<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
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	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
<span class='line'>  2</span>  * @author David Gossow - dgossow@willowgarage.com
<span class='line'>  3</span>  */</span><span class="WHIT">
<span class='line'>  4</span> 
<span class='line'>  5</span> </span><span class="COMM">/**
<span class='line'>  6</span>  * A client for an interactive marker topic.
<span class='line'>  7</span>  *
<span class='line'>  8</span>  * @constructor
<span class='line'>  9</span>  * @param options - object with following keys:
<span class='line'> 10</span>  *  * ros - a handle to the ROS connection
<span class='line'> 11</span>  *  * tfClient - a handle to the TF client
<span class='line'> 12</span>  *  * topic (optional) - the topic to subscribe to, like '/basic_controls'
<span class='line'> 13</span>  *  * path (optional) - the base path to any meshes that will be loaded
<span class='line'> 14</span>  *  * camera - the main camera associated with the viewer for this marker client
<span class='line'> 15</span>  *  * rootObject (optional) - the root THREE 3D object to render to
<span class='line'> 16</span>  */</span><span class="WHIT">
<span class='line'> 17</span> </span><span class="NAME">ROS3D.InteractiveMarkerClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="NAME">this.ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="NAME">this.tfClient</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.tfClient</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="NAME">this.topic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.topic</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="NAME">this.path</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="STRN">''</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 24</span> </span><span class="WHIT">  </span><span class="NAME">this.camera</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.camera</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="NAME">this.rootObject</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.rootObject</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">THREE.Object3D</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 26</span> 
<span class='line'> 27</span> </span><span class="WHIT">  </span><span class="NAME">this.interactiveMarkers</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 28</span> </span><span class="WHIT">  </span><span class="NAME">this.updateTopic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">null</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="NAME">this.feedbackTopic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">null</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 30</span> 
<span class='line'> 31</span> </span><span class="WHIT">  </span><span class="COMM">// check for an initial topic</span><span class="WHIT">
<span class='line'> 32</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.topic</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 33</span> </span><span class="WHIT">    </span><span class="NAME">this.subscribe</span><span class="PUNC">(</span><span class="NAME">this.topic</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 34</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 35</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 36</span> 
<span class='line'> 37</span> </span><span class="COMM">/**
<span class='line'> 38</span>  * Subscribe to the given interactive marker topic. This will unsubscribe from any current topics.
<span class='line'> 39</span>  * 
<span class='line'> 40</span>  * @param topic - the topic to subscribe to, like '/basic_controls'
<span class='line'> 41</span>  */</span><span class="WHIT">
<span class='line'> 42</span> </span><span class="NAME">ROS3D.InteractiveMarkerClient.prototype.subscribe</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">topic</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 43</span> </span><span class="WHIT">  </span><span class="COMM">// unsubscribe to the other topics</span><span class="WHIT">
<span class='line'> 44</span> </span><span class="WHIT">  </span><span class="NAME">this.unsubscribe</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 45</span> 
<span class='line'> 46</span> </span><span class="WHIT">  </span><span class="NAME">this.updateTopic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Topic</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 47</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.ros</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 48</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">'/tunneled/update'</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 49</span> </span><span class="WHIT">    </span><span class="NAME">messageType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'visualization_msgs/InteractiveMarkerUpdate'</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 50</span> </span><span class="WHIT">    </span><span class="NAME">compression</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'png'</span><span class="WHIT">
<span class='line'> 51</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 52</span> </span><span class="WHIT">  </span><span class="NAME">this.updateTopic.subscribe</span><span class="PUNC">(</span><span class="NAME">this.processUpdate.bind</span><span class="PUNC">(</span><span class="KEYW">this</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 53</span> 
<span class='line'> 54</span> </span><span class="WHIT">  </span><span class="NAME">this.feedbackTopic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Topic</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 55</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.ros</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 56</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">'/feedback'</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 57</span> </span><span class="WHIT">    </span><span class="NAME">messageType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'visualization_msgs/InteractiveMarkerFeedback'</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 58</span> </span><span class="WHIT">    </span><span class="NAME">compression</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'png'</span><span class="WHIT">
<span class='line'> 59</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 60</span> </span><span class="WHIT">  </span><span class="NAME">this.feedbackTopic.advertise</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 61</span> 
<span class='line'> 62</span> </span><span class="WHIT">  </span><span class="NAME">this.initService</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Service</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 63</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">this.ros</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 64</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">+</span><span class="WHIT"> </span><span class="STRN">'/tunneled/get_init'</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 65</span> </span><span class="WHIT">    </span><span class="NAME">serviceType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'demo_interactive_markers/GetInit'</span><span class="WHIT">
<span class='line'> 66</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 67</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">request</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.ServiceRequest</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 68</span> </span><span class="WHIT">  </span><span class="NAME">this.initService.callService</span><span class="PUNC">(</span><span class="NAME">request</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">this.processInit.bind</span><span class="PUNC">(</span><span class="KEYW">this</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 69</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 70</span> 
<span class='line'> 71</span> </span><span class="COMM">/**
<span class='line'> 72</span>  * Unsubscribe from the current interactive marker topic.
<span class='line'> 73</span>  */</span><span class="WHIT">
<span class='line'> 74</span> </span><span class="NAME">ROS3D.InteractiveMarkerClient.prototype.unsubscribe</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 75</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.updateTopic</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 76</span> </span><span class="WHIT">    </span><span class="NAME">this.updateTopic.unsubscribe</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 77</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 78</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.feedbackTopic</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 79</span> </span><span class="WHIT">    </span><span class="NAME">this.feedbackTopic.unadvertise</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 80</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 81</span> </span><span class="WHIT">  </span><span class="COMM">// erase all markers</span><span class="WHIT">
<span class='line'> 82</span> </span><span class="WHIT">  </span><span class="KEYW">for</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">intMarkerName</span><span class="WHIT"> </span><span class="KEYW">in</span><span class="WHIT"> </span><span class="NAME">this.interactiveMarkers</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 83</span> </span><span class="WHIT">    </span><span class="NAME">this.eraseIntMarker</span><span class="PUNC">(</span><span class="NAME">intMarkerName</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 84</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 85</span> </span><span class="WHIT">  </span><span class="NAME">this.interactiveMarkers</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 86</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 87</span> 
<span class='line'> 88</span> </span><span class="COMM">/**
<span class='line'> 89</span>  * Process the given interactive marker initialization message.
<span class='line'> 90</span>  * 
<span class='line'> 91</span>  * @param initMessage - the interactive marker initialization message to process
<span class='line'> 92</span>  */</span><span class="WHIT">
<span class='line'> 93</span> </span><span class="NAME">ROS3D.InteractiveMarkerClient.prototype.processInit</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">initMessage</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 94</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">message</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">initMessage.msg</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 95</span> 
<span class='line'> 96</span> </span><span class="WHIT">  </span><span class="COMM">// erase any old markers</span><span class="WHIT">
<span class='line'> 97</span> </span><span class="WHIT">  </span><span class="NAME">message.erases</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">[</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 98</span> </span><span class="WHIT">  </span><span class="KEYW">for</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">intMarkerName</span><span class="WHIT"> </span><span class="KEYW">in</span><span class="WHIT"> </span><span class="NAME">this.interactiveMarkers</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 99</span> </span><span class="WHIT">    </span><span class="NAME">message.erases.push</span><span class="PUNC">(</span><span class="NAME">intMarkerName</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>100</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>101</span> </span><span class="WHIT">  </span><span class="NAME">message.poses</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">[</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>102</span> 
<span class='line'>103</span> </span><span class="WHIT">  </span><span class="COMM">// treat it as an update</span><span class="WHIT">
<span class='line'>104</span> </span><span class="WHIT">  </span><span class="NAME">this.processUpdate</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>105</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>106</span> 
<span class='line'>107</span> </span><span class="COMM">/**
<span class='line'>108</span>  * Process the given interactive marker update message.
<span class='line'>109</span>  * 
<span class='line'>110</span>  * @param initMessage - the interactive marker update message to process
<span class='line'>111</span>  */</span><span class="WHIT">
<span class='line'>112</span> </span><span class="NAME">ROS3D.InteractiveMarkerClient.prototype.processUpdate</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">message</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>113</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>114</span> 
<span class='line'>115</span> </span><span class="WHIT">  </span><span class="COMM">// erase any markers</span><span class="WHIT">
<span class='line'>116</span> </span><span class="WHIT">  </span><span class="NAME">message.erases.forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">name</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>117</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">marker</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">that.interactiveMarkers</span><span class="PUNC">[</span><span class="NAME">name</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>118</span> </span><span class="WHIT">    </span><span class="NAME">that.eraseIntMarker</span><span class="PUNC">(</span><span class="NAME">name</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>119</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>120</span> 
<span class='line'>121</span> </span><span class="WHIT">  </span><span class="COMM">// updates marker poses</span><span class="WHIT">
<span class='line'>122</span> </span><span class="WHIT">  </span><span class="NAME">message.poses.forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">poseMessage</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>123</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">marker</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">that.interactiveMarkers</span><span class="PUNC">[</span><span class="NAME">poseMessage.name</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>124</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">marker</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>125</span> </span><span class="WHIT">      </span><span class="NAME">marker.setPoseFromServer</span><span class="PUNC">(</span><span class="NAME">poseMessage.pose</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>126</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>127</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>128</span> 
<span class='line'>129</span> </span><span class="WHIT">  </span><span class="COMM">// add new markers</span><span class="WHIT">
<span class='line'>130</span> </span><span class="WHIT">  </span><span class="NAME">message.markers.forEach</span><span class="PUNC">(</span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">msg</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>131</span> </span><span class="WHIT">    </span><span class="COMM">// get rid of anything with the same name</span><span class="WHIT">
<span class='line'>132</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">oldhandle</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">that.interactiveMarkers</span><span class="PUNC">[</span><span class="NAME">msg.name</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>133</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">oldhandle</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>134</span> </span><span class="WHIT">      </span><span class="NAME">that.eraseIntMarker</span><span class="PUNC">(</span><span class="NAME">oldhandle.name</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>135</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>136</span> 
<span class='line'>137</span> </span><span class="WHIT">    </span><span class="COMM">// create the handle</span><span class="WHIT">
<span class='line'>138</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">handle</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROS3D.InteractiveMarkerHandle</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>139</span> </span><span class="WHIT">      </span><span class="NAME">message</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">msg</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>140</span> </span><span class="WHIT">      </span><span class="NAME">feedbackTopic</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">that.feedbackTopic</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>141</span> </span><span class="WHIT">      </span><span class="NAME">tfClient</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">that.tfClient</span><span class="WHIT">
<span class='line'>142</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>143</span> </span><span class="WHIT">    </span><span class="NAME">that.interactiveMarkers</span><span class="PUNC">[</span><span class="NAME">msg.name</span><span class="PUNC">]</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">handle</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>144</span> 
<span class='line'>145</span> </span><span class="WHIT">    </span><span class="COMM">// create the actual marker</span><span class="WHIT">
<span class='line'>146</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">intMarker</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROS3D.InteractiveMarker</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>147</span> </span><span class="WHIT">      </span><span class="NAME">handle</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">handle</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>148</span> </span><span class="WHIT">      </span><span class="NAME">camera</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">that.camera</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'>149</span> </span><span class="WHIT">      </span><span class="NAME">path</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">that.path</span><span class="WHIT">
<span class='line'>150</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>151</span> </span><span class="WHIT">    </span><span class="COMM">// add it to the scene</span><span class="WHIT">
<span class='line'>152</span> </span><span class="WHIT">    </span><span class="NAME">that.rootObject.add</span><span class="PUNC">(</span><span class="NAME">intMarker</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>153</span> 
<span class='line'>154</span> </span><span class="WHIT">    </span><span class="COMM">// listen for any pose updates from the server</span><span class="WHIT">
<span class='line'>155</span> </span><span class="WHIT">    </span><span class="NAME">handle.on</span><span class="PUNC">(</span><span class="STRN">'pose'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">pose</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>156</span> </span><span class="WHIT">      </span><span class="NAME">intMarker.onServerSetPose</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>157</span> </span><span class="WHIT">        </span><span class="NAME">pose</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">pose</span><span class="WHIT">
<span class='line'>158</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>159</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>160</span> 
<span class='line'>161</span> </span><span class="WHIT">    </span><span class="NAME">intMarker.addEventListener</span><span class="PUNC">(</span><span class="STRN">'user-pose-change'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">handle.setPoseFromClient.bind</span><span class="PUNC">(</span><span class="NAME">handle</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>162</span> </span><span class="WHIT">    </span><span class="NAME">intMarker.addEventListener</span><span class="PUNC">(</span><span class="STRN">'user-mousedown'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">handle.onMouseDown.bind</span><span class="PUNC">(</span><span class="NAME">handle</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>163</span> </span><span class="WHIT">    </span><span class="NAME">intMarker.addEventListener</span><span class="PUNC">(</span><span class="STRN">'user-mouseup'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">handle.onMouseUp.bind</span><span class="PUNC">(</span><span class="NAME">handle</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>164</span> </span><span class="WHIT">    </span><span class="NAME">intMarker.addEventListener</span><span class="PUNC">(</span><span class="STRN">'user-button-click'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">handle.onButtonClick.bind</span><span class="PUNC">(</span><span class="NAME">handle</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>165</span> </span><span class="WHIT">    </span><span class="NAME">intMarker.addEventListener</span><span class="PUNC">(</span><span class="STRN">'menu-select'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">handle.onMenuSelect.bind</span><span class="PUNC">(</span><span class="NAME">handle</span><span class="PUNC">)</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>166</span> 
<span class='line'>167</span> </span><span class="WHIT">    </span><span class="COMM">// now list for any TF changes</span><span class="WHIT">
<span class='line'>168</span> </span><span class="WHIT">    </span><span class="NAME">handle.subscribeTf</span><span class="PUNC">(</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>169</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>170</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>171</span> 
<span class='line'>172</span> </span><span class="COMM">/**
<span class='line'>173</span>  * Erase the interactive marker with the given name.
<span class='line'>174</span>  * 
<span class='line'>175</span>  * @param intMarkerName - the interactive marker name to delete
<span class='line'>176</span>  */</span><span class="WHIT">
<span class='line'>177</span> </span><span class="NAME">ROS3D.InteractiveMarkerClient.prototype.eraseIntMarker</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">intMarkerName</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>178</span> </span><span class="WHIT">  </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">this.interactiveMarkers</span><span class="PUNC">[</span><span class="NAME">intMarkerName</span><span class="PUNC">]</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>179</span> </span><span class="WHIT">    </span><span class="KEYW">delete</span><span class="WHIT"> </span><span class="NAME">this.interactiveMarkers</span><span class="PUNC">[</span><span class="NAME">intMarkerName</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>180</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'>181</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>182</span> </span></pre></body></html>